root / rgbdslam / gicp / scan.h @ 9240aaa3
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/*************************************************************
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Generalized-ICP Copyright (c) 2009 Aleksandr Segal.
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All rights reserved.
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Redistribution and use in source and binary forms, with
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or without modification, are permitted provided that the
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following conditions are met:
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* Redistributions of source code must retain the above
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copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above
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copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other
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materials provided with the distribution.
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* The names of the contributors may not be used to endorse
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or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
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WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
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INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
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OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
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DAMAGE.
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*************************************************************/
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#ifndef __SCAN_H
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#define __SCAN_H
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#include <vector> |
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typedef struct { |
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double mat[3][3]; // 36 bytes, row major |
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int transpose; // 4 |
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int symmetric; // 4 |
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int diagonal; // 4 |
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} dgc_matrix3d_t; // = 48 bytes per matrix
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typedef struct { |
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double vec[3]; // 12 bytes |
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} dgc_vector3d_c_t; // 16 bytes per vector
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typedef struct { |
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double vec[3]; // 12 bytes |
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} dgc_vector3d_r_t; // 16 bytes per vector
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typedef struct { |
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double x;
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double y;
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double z;
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double roll;
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double pitch;
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double yaw;
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} dgc_pose_t, * dgc_pose_p; |
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class dgc_scan_t { |
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public:
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std::vector<dgc_vector3d_c_t> points; |
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std::vector<dgc_vector3d_c_t> norms; |
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dgc_pose_t pose; |
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int save(const char* filename); |
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int load(const char *filename); |
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}; |
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#endif
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